相关论文: RPR-Net: A Point Cloud-based Rotation-aware Large …

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Recent advances in rotation-invariant (RI) learning for 3D point clouds typically replace raw coordinates with handcrafted RI features to ensure robustness under arbitrary rotations. However, these approaches often suffer from the loss of…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Pointwise…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

In this paper we propose a rotation-invariant deep network for point clouds analysis. Point-based deep networks are commonly designed to recognize roughly aligned 3D shapes based on point coordinates, but suffer from performance drops with…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

3D anomaly detection (AD) is a crucial task in computer vision, aiming to identify anomalous points or regions from point cloud data. However, existing methods may encounter challenges when handling point clouds with changes in orientation…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points and the contextual dependency among global points…

Three-dimensional object recognition has recently achieved great progress thanks to the development of effective point cloud-based learning frameworks, such as PointNet and its extensions. However, existing methods rely heavily on fully…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Rotation invariance is an important requirement for point shape analysis. To achieve this, current state-of-the-art methods attempt to construct the local rotation-invariant representation through learning or defining the local reference…